Hello everybody! I am ardupilot copter beginner, sorry for my poor English, hope you can understand what I mean~
Recently I was studying DCM and EKF in the ArduCopter, research for a long time, but I still have a lot of doubts:
- I learned that DCM used to be used alone, so, I would like to use DCM alone, test performance, I try to set the parameter
EK2_ENABLE
to 0, parameterAHRS_EKF_TYPE
to 0, parameterEKF1_ENABLE
to 0, but connect to ground station after reboot, GCS shows “PreArm: Waiting for Nav Checks”, I don’t know where it went wrong, or that DCM can’t be used alone now, and must rely on EKF? - A second question is, what is the relationship between DCM and EKF? also, What is the relationship between ekf1 function method and ekf2 function method in the ArduCoter? I probably know that EKF must rely on the DCM’s a valid tilt error estimate and ekf2 function is another kind of EKF algorithm. But does DCM also rely on EKF? Because I saw the
_dcm_matrix
matrix in the DCM algorithm is accumulated based on the EKF algorithm’s_dcm_matrix
matrix. Is there any information I can get to know?
Hope for your reply~
Regards
NEPHEN WU